30 April 1992 High-dexterity teleoperation in real and virtual environments
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Our work in teleoperation highlights its space applications, and related tasks such as remote platform servicing, telescience, and lunar exploration. These tasks are complex, time- consuming, and relatively unstructured. Demands for manual dexterity are often high; the work is fatiguing; and uncertainty, which includes effects of time-delay, is nearly always present. In the face of these problems, we have been working along several technical fronts which include redundant telemanipulator control, multi-camera viewing and real-time graphics simulation, integrated operator interface design, and systems-scale ground laboratory experiments. Our main experimental thrust is end-to-end performance characterization--formal experiment design, task instrumentation for real-time data capture, integrated system demonstrations, and human factors analysis. Collectively, the goal is to quantify operator limitations, component technology requirements, and their interdependencies, all in the context of meaningful tasks with realistically posed system-level operational constraints (lighting, task geometry, time-delay, control & communication bandwidths, viewing & display limitations, etc.). Accompanying technical issues are reduction of operator error, workload, and training, each in itself a significant risk and cost driver for space operations. Toward these ends, we have been emphasizing advanced approaches to teleoperation, in the functional areas of task perception, planning, and control.
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Paul S. Schenker, Paul S. Schenker, Won Soo Kim, Won Soo Kim, Antal K. Bejczy, Antal K. Bejczy, } "High-dexterity teleoperation in real and virtual environments", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57929; https://doi.org/10.1117/12.57929

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